Container handling vehicle for handling small storage containers in automated storage and retrieval system

Abstract

The invention relates to a container handling vehicle (10) for an automated storage and retrieval system (1), where the container handling vehicle (10) comprises a body (11) for engaging a storage container (6; 106) of the first edge (6e1; 106e1) and a first lifting section (30a) for lifting the first clamping section (20a) relative to the vehicle body (11). The vehicle further comprises means for engaging the storage container (6; 106), and a second edge (6e2; 106e2) and a second lifting section (30b) for lifting the second clamping section (20b) relative to the vehicle body (11). The first lifting section (30a) and the second lifting section (30b) are arranged to keep the first clamping section (20a) and the second clamping section (20b) in horizontal alignment with each other. The first actuator (41) is used to adjust the horizontal position of the first clamping section (20a) relative to the vehicle body (11).

Description

Technical Field

[0001] The present invention relates to a container handling vehicle for an automated storage and retrieval system. The present invention also relates to an automated storage and retrieval system including a frame structure. Background Art

[0002] FIG. 1 discloses a prior art automated storage and retrieval system 1 having a frame structure 100, and FIGS. 2, 3 and 4 disclose three different prior art container handling vehicles 201, 301, 401 adapted to operate on the system 1.

[0003] The frame structure 100 includes upright members 102 and a storage volume including storage rows 105 arranged in rows between the upright members 102. In these storage rows 105, storage containers 106 (also referred to as bins) are stacked one on top of the other to form stacks 107. The members 102 can generally be made of metal (such as extruded aluminum profiles).

[0004] The frame structure 100 of the automated storage and retrieval system 1 includes a track system 108 arranged across the top of the frame structure 100, on which a plurality of container handling vehicles 201, 301, 401 can operate to lift storage containers 106 from the storage rows 105 and lower the storage containers 106 into the storage rows, and also to transport the storage containers 106 above the storage rows 105. The track system 108 includes: a first set of parallel tracks 110 arranged to guide the container handling vehicles 201, 301, 401 to move across the top of the frame structure 100 in a first direction X; and a second set of parallel tracks 111 arranged perpendicular to the first set of tracks 110 to guide the container handling vehicles 201, 301, 401 to move in a second direction Y perpendicular to the first direction X. The containers 106 stored in the rows 105 are accessed by the container handling vehicles 201, 301, 401 through access openings 112 in the track system 108. The container handling vehicles 201, 301, 401 can move laterally above the storage rows 105, i.e., laterally in a plane parallel to the horizontal X-Y plane.

[0005] The upright members 102 of the frame structure 100 can be used to guide the container during lifting the storage container from the row 105 and lowering the storage container into the row. The stacks 107 of the containers 106 are generally self-supporting.

[0006] Each of the prior art container handling vehicles 201, 301, 401 includes a vehicle body 201a, 301a, 401a and a first set of wheels and a second set of wheels 201b, 201c, 301b, 301c, 401b, 401c, and these sets of wheels enable the container handling vehicles 201, 301, 401 to move laterally in the X direction and the Y direction respectively. In FIGS. 2, 3 and 4, two wheels in each set of wheels are fully visible. The first set of wheels 201b, 301b, 401b are arranged to engage two adjacent tracks in the first set of tracks 110, and the second set of wheels 201c, 301c, 401c are arranged to engage two adjacent tracks in the second set of tracks 111. At least one of these sets of wheels 201b, 201c, 301b, 301c, 401b, 401c can be raised and lowered so that the first set of wheels 201b, 301b, 401b and / or the second set of wheels 201c, 301c, 401c can engage the corresponding set of tracks 110, 111 at any one time.

[0007] Each of the prior art container handling vehicles 201, 301, 401 further includes a lifting device for vertically transporting the storage container 106, such as raising the storage container 106 from the storage row 105 and lowering the storage container 106 into the storage row. The lifting device includes one or more clamping / engaging devices adapted to engage the storage container 106, and these clamping / engaging devices can be lowered from the vehicles 201, 301, 401 so that the position of the clamping / engaging devices relative to the vehicles 201, 301, 401 can be adjusted in a third direction Z orthogonal to the first direction X and the second direction Y. Some parts of the clamping devices of the container handling vehicles 301, 401 are shown in FIGS. 3 and 4 and are denoted by reference numerals 304, 404. In FIG. 2, the clamping device of the container handling device 201 is located within the vehicle body 201a and is therefore not shown.

[0008] Conventionally and also for the purposes of the present application, Z = 1 identifies the uppermost layer available for storing containers below the tracks 110, 111, i.e., the layer immediately below the track system 108; Z = 2 identifies the second layer below the track system 108; Z = 3 identifies the third layer, and so on. In the exemplary prior art disclosed in FIG. 1, Z = 8 identifies the lowermost bottom layer of the storage containers. Similarly, X = 1…n and Y = 1…n identify the positions of each storage column 105 in the horizontal plane. Thus, as an example and using the Cartesian coordinate system X, Y, Z shown in FIG. 1, it can be said that the storage container identified as 106’ in FIG. 1 occupies the storage position of X = 17, Y = 1, Z = 6. It can be said that the container handling vehicles 201, 301, 401 travel in the layer of Z = 0, and each storage column 105 can be identified by its X coordinate and Y coordinate. Thus, the storage containers extending above the track system 108 shown in FIG. 1 are also said to be arranged in the layer of Z = 0.

[0009] The storage volume part of the frame structure 100 is generally referred to as the grid 104, where the possible storage positions within this grid are called storage units. Each storage column can be identified by its position in the X direction and Y direction, while each storage unit can be identified by the container number in the X direction, Y direction, and Z direction.

[0010] Each prior art container handling vehicle 201, 301, 401 includes a storage compartment or storage space for receiving and loading the storage container 106 when transporting the storage container 106 across the track system 108. The storage space can include a cavity arranged inside the vehicle bodies 201a, 401a, as shown in FIGS. 2 and 4, and as described, for example, in WO2015 / 193278A1 and WO2019 / 206487A1, the contents of which are incorporated herein by reference.

[0011] FIG. 3 shows an alternative configuration of the container handling vehicle 301 with a cantilever structure. Such a vehicle is described in detail, for example, in NO317366, the content of which is also incorporated herein by reference.

[0012] The occupied area of the cavity-type container handling vehicle 201 shown in FIG. 2 can cover an area with dimensions in the X direction and Y direction that are approximately equal to the lateral extent of the storage column 105, as described, for example, in WO2015 / 193278A1, the content of which is incorporated herein by reference. The term “lateral” used herein can mean “horizontal”.

[0013] Alternatively, the occupied area of the cavity-type container handling vehicle 401 can be larger than the lateral area defined by the storage column 105, as shown in FIGS. 1 and 4 and as disclosed, for example, in WO2014 / 090684A1 or WO2019 / 206487A1.

[0014] The track system 108 generally includes tracks having grooves in which the wheels of the vehicle travel. Alternatively, the tracks can include upwardly projecting elements, where the wheels of the vehicle include flanges to prevent derailment. These grooves and upwardly projecting elements are collectively referred to as guideways. Each track can include one guideway, or each of the tracks 110, 111 can include two parallel guideways. In other track systems 108, each track in one direction (e.g., the X direction) can include one guideway, while each track in another perpendicular direction (e.g., the Y direction) can include two guideways. Each of the tracks 110, 111 can also include two guideway members fastened together, with each guideway member providing one of the pair of guideways provided by each track.

[0015] WO2018 / 146304A1 (the content of which is incorporated herein by reference) shows a typical configuration of the track system 108, which includes tracks and parallel guideways in both the X direction and the Y direction.

[0016] In the frame structure 100, most of the columns 105 are storage columns 105, i.e., columns 105 in which storage containers 106 are stored in stacks 107. However, some of the columns 105 can have other purposes. In FIG. 1, columns 119 and 120 are such dedicated columns used by the container handling vehicles 201, 301, 401 to unload and / or pick up the storage containers 106, such that the storage containers can be transported to an access station (not shown), where the storage containers 106 can be accessed from outside the frame structure 100, or removed from or moved into the frame structure 100. In the art, such locations are commonly referred to as "ports", and the columns in which the ports are located can be referred to as "port columns" 119, 120. The transportation to the access station can be in any direction (i.e., horizontal, inclined, and / or vertical). For example, the storage container 106 can be placed in a random or dedicated column 105 within the frame structure 100, and then picked up by any container handling vehicle and transported to the port columns 119, 120 for further transportation to the access station. The transportation from the port to the access station may require movement in various different directions by means such as a conveyance vehicle, a cart, or other transportation lines. Note that the term "inclined" refers to the transportation of the storage container 106 having a generally transportation orientation in a direction between horizontal and vertical.

[0017] In FIG. 1, the first port column 119 can be, for example, a dedicated offloading port column where container handling vehicles 201, 301, 401 can offload storage containers 106 to be transported to the access station or transfer station, and the second port column 120 can be a dedicated pickup port column where container handling vehicles 201, 301, 401 can pick up storage containers 106 that have been transported from the access station or transfer station.

[0018] The access station can generally be a pickup station or a stocking station where product items are removed from or positioned in the storage container 106. In the pickup station or stocking station, the storage container 106 is generally not removed from the automated storage and retrieval system 1 but is returned to the frame structure 100 again after access. The ports can also be used to transfer the storage container to another storage facility (e.g., to another frame structure or to another automated storage and retrieval system), to a transport vehicle (e.g., a train or a truck), or to a production facility.

[0019] A conveying system including conveyors is generally employed to transport the storage containers between the port columns 119, 120 and the access station.

[0020] If the port columns 119, 120 and the access station are at different levels, the conveying system can include a lifting device having a vertical component for vertically transporting the storage container 106 between the port columns 119, 120 and the access station.

[0021] The conveying system can be arranged to transfer the storage container 106 between different frame structures, for example, as described in WO2014 / 075937A1, the content of which is incorporated herein by reference.

[0022] When accessing a storage container 106 stored in one of the multiple columns 105 disclosed in FIG. 1, one of the multiple container handling vehicles 201, 301, 401 is instructed to retrieve the target storage container from the location of the target storage container 106 and transport the target storage container to the unloading port column 119. This operation involves moving the container handling vehicles 201, 301, 401 to a position above the storage column 105 where the target storage container 106 is located, retrieving the storage container 106 from the storage column 105 using a lifting device (not shown) of the container handling vehicles 201, 301, 401, and transporting the storage container 106 to the unloading port column 119. If the target storage container 106 is deep within the stack 107, i.e., one or more other storage containers 106 are located above the target storage container 106, this operation also involves temporarily moving the overlying storage containers before lifting the target storage container 106 from the storage column 105. This step (sometimes referred to in the art as "digging") can be performed using the same container handling vehicle that is subsequently used to transport the target storage container to the unloading port column 119, or using one or more other cooperative container handling vehicles. Alternatively or additionally, the automated storage and retrieval system 1 can have container handling vehicles 201, 301, 401 dedicated to the task of temporarily removing storage containers 106 from the storage column 105. After removing the target storage container 106 from the storage column 105, the temporarily removed storage container 106 can be repositioned back into the original storage column 105. However, the removed storage container 106 can alternatively be repositioned into other storage columns 105.

[0023] When storing a storage container 106 in a column 105, one of the container handling vehicles 201, 301, 401 is instructed to pick up the storage container 106 from the pick-up port column 120 and transport the storage container to a position above the storage column 105 where the storage container is to be stored. After removing any storage containers 106 located at or above the target position within the stack 107, the container handling vehicles 201, 301, 401 position the storage container 106 at the desired location. The removed storage container 106 can then be lowered back into the storage column 105 or repositioned into other storage columns 105.

[0024] In order to monitor and control an automated storage and retrieval system 1, for example to monitor and control the position of individual storage containers 106 within a frame structure 100, the contents of each storage container 106, and the movement of container handling vehicles 201, 301, 401 such that the required storage container 106 can be transported to the required position at the required time without the container handling vehicles 201, 301, 401 colliding with each other, the automated storage and retrieval system 1 includes a control system 500 which is typically computerized and typically includes a database for keeping track of the storage containers 106.

[0025] WO2019 / 101366 describes a container handling vehicle capable of lifting two or four storage containers of the same size either individually or simultaneously.

[0026] WO2017 / 178370 describes a container handling vehicle for lifting small storage containers.

[0027] WO2017211634 shows a clamping device of a container handling vehicle which can be operated to lift a required small box from a group of small boxes adjacent to each other.

[0028] An object of the present invention is to provide a container handling vehicle as an alternative to the above vehicles. Summary of the Invention

[0029] The present invention relates to a container handling vehicle for an automated storage and retrieval system, wherein the container handling vehicle comprises:

[0030] - a vehicle body;

[0031] - a first clamping section for engaging a first edge of a storage container;

[0032] - a first lifting section for lifting the first clamping section relative to the vehicle body;

[0033] - a second clamping section for engaging a second edge of the storage container;

[0034] - a second lifting section for lifting the second clamping section relative to the vehicle body;

[0035] wherein the first lifting section and the second lifting section are arranged to keep the first clamping section and the second clamping section horizontally aligned with each other; and

[0036] - a first actuator for adjusting the horizontal position of the first clamping section and / or the second clamping section relative to the vehicle body.

[0037] In one aspect, the first actuator adjusts the horizontal position of the first clamping section relative to the vehicle body by adjusting the horizontal position of the first lifting section relative to the vehicle body.

[0038] In one aspect, a first actuator adjusts a horizontal position of a first clamping section relative to a second clamping section and relative to a vehicle body.

[0039] In one aspect, the first clamping section and the second clamping section are fixed to each other, and wherein the first actuator is configured to adjust a horizontal position of the first clamping section and the second clamping section.

[0040] In one aspect, a container handling vehicle includes:

[0041] - A second actuator for adjusting a horizontal position of the second clamping section relative to the first clamping section.

[0042] In one aspect, the second actuator adjusts a horizontal position of the second clamping section relative to the vehicle body by adjusting a horizontal position of a second lifting section relative to the vehicle body.

[0043] In one aspect, the container handling vehicle can be set in one of the following states:

[0044] - A first state, in which the position of the first clamping section is at a first distance from the position of the second clamping section for engaging a first storage container;

[0045] - A second state, in which the position of the first clamping section is at a second distance from the position of the second clamping section for engaging a second storage container, wherein the second distance is less than the first distance.

[0046] In one aspect, the first storage container is larger than the second storage container.

[0047] In one aspect, the second distance is 40%-50% of the first distance.

[0048] In one aspect, in the second state, the first actuator and the second actuator are configured to horizontally move the second storage container relative to the vehicle body.

[0049] In one aspect, in the second state, the first actuator and the second actuator are configured to move the second storage container relative to the vehicle body by a third distance, and the third distance is equal to or greater than the second distance.

[0050] According to the above, the second storage container can be lifted and lowered from one small storage row to an adjacent small storage row without moving the container handling vehicle.

[0051] In one aspect, the first clamping section is configured to engage a first edge of the first storage container and a first edge of the second storage container, and wherein the second clamping section is configured to engage a second edge of the first storage container and a second edge of the second storage container.

[0052] In one aspect, the first edge of the first storage container is the same as the first edge of the second storage container. In one aspect, the second edge of the first storage container is the same as the second edge of the second storage container.

[0053] In one aspect, the first edge of the first storage container and the first edge of the second storage container include a gripper interface and a guide pin interface. In one aspect, the second edge of the first storage container and the second edge of the second storage container also include a gripper interface and a guide pin interface.

[0054] In one aspect, the width of the first storage container is equal to the width of the second storage container, and the length of the first storage container is equal to or less than 50% of the length of the second storage container.

[0055] According to the above, since the first clamping section can engage with the first edge of two types of storage containers, and the second clamping section can engage with the second edge of two types of storage containers, the same two clamping sections can be used to engage storage containers of different sizes by only adjusting the horizontal position between the first clamping section and the second clamping section.

[0056] Therefore, one type of container handling vehicle can be used to handle both the prior art first storage container and the small second storage container.

[0057] In one aspect, the container handling vehicle includes a rotatable shaft;

[0058] - The first lifting section includes a belt drum connected to the shaft and a lifting belt connected between the belt drum and the first clamping section;

[0059] - The second lifting section includes a belt drum connected to the shaft or another shaft and a lifting belt connected between the belt drum and the second clamping section;

[0060] Wherein, the first actuator is arranged to adjust the horizontal position of the first clamping section by adjusting the horizontal position of the belt drum of the first lifting section on the shaft.

[0061] The lifting belt can be a belt, a webbing, a cable, etc.

[0062] In one aspect, the shaft is a splined shaft, which allows the belt drum to move axially relative to the splined shaft and at the same time allows the belt drum to rotate through the same splined shaft.

[0063] In one aspect, the second actuator is arranged to adjust the horizontal position of the second clamping section relative to the first clamping section by adjusting the horizontal position of the belt drum of the second lifting section on the shaft or another shaft relative to the belt drum of the first lifting section.

[0064] By rotating the rotatable shaft and another shaft, the lifting belt can be wound onto or unwound from the belt drum, thereby raising or lowering the first clamping section and the second clamping section accordingly.

[0065] In one aspect, the first clamping section includes a frame, at least two guide pins fixed to the frame, and a gripper fixed to the frame; and the second clamping section includes a frame, at least two guide pins fixed to the frame, and a gripper fixed to the frame.

[0066] The frame of the first clamping section and the frame of the second clamping section can be connected by a spacing device, which is arranged to be able to selectively adjust the distance between the frames and maintain the distance when not adjusted. For example, the distance can be adjusted only when the lifting belt is fully wound onto the belt drum such that the clamping sections are in their highest positions, otherwise the distance is maintained. The distance between the frames is preferably adjusted in accordance with the distance between the belt drums adjusted by the first actuator and / or the second actuator. The spacing device can be, for example, a third actuator or an adjustable spacer.

[0067] In one aspect, the first clamping section includes a frame, at least two guide pins fixed to the frame, and a gripper fixed to the frame;

[0068] - The second clamping section includes a frame, at least two guide pins fixed to the frame, and a gripper fixed to the frame;

[0069] - The container handling vehicle includes a third actuator for adjusting the horizontal distance between the frame of the first clamping section and the frame of the second clamping section.

[0070] In one aspect, the first clamping section includes a frame, at least two guide pins fixed to the frame, and a gripper fixed to the frame;

[0071] - The second clamping section includes a frame, at least two guide pins fixed to the frame, and a gripper fixed to the frame;

[0072] - The frame of the first clamping section and the frame of the second clamping section can be connected by an adjustable spacer, wherein the adjustable spacer can be set in a locked state and an unlocked state, wherein in the unlocked state, the spacer enables the adjustment of the horizontal position of the frame of the second clamping section relative to the frame of the first clamping section; and in the locked state, the spacer is arranged to maintain the horizontal position of the frame of the second clamping section relative to the frame of the first clamping section.

[0073] In one aspect, the guide pins fixed to the frame extend vertically. In one aspect, the guide pins fixed to the frame extend above and below the frame. In one aspect, the guide pins are configured to mate with the apertures between the upright members of the frame structure and the grooves in each corner of the storage container.

[0074] In one aspect, the container handling vehicle includes a control system for controlling the first actuator, the second actuator, and / or the third actuator.

[0075] In one aspect, the control system is configured to control the first actuator, the second actuator, and the third actuator such that the distance between the position of the first clamping section and the position of the second clamping section is proportional to the distance between the belt drums of the first lifting section and the belt drums of the second lifting section.

[0076] In one aspect, the control system is configured to control the first actuator, the second actuator, and / or the third actuator based on information received from the control system of the automated storage and retrieval system.

[0077] In one aspect, the control system is configured to control the lifting of the first clamping section and the second clamping section, for example, by controlling the rotation of a rotatable shaft.

[0078] The present invention also relates to an automated storage and retrieval system including a frame structure, wherein the frame structure includes:

[0079] - upright members;

[0080] - a first storage volume including a first storage row disposed between the upright members, wherein first storage containers can be stacked in a first stack within the first storage row;

[0081] - a second storage volume including a second storage row disposed between the upright members, wherein second storage containers can be stacked in a second stack within the second storage row; and

[0082] - a track system disposed on top of the upright members,

[0083] wherein the automated storage and retrieval system includes a container handling vehicle arranged to travel on the track system;

[0084] wherein the container handling vehicle is the container handling vehicle according to the above, and wherein the container handling vehicle is configured to handle second storage containers.

[0085] In one aspect, the container handling vehicle is configured to handle only second storage containers. Thus, different types of container handling vehicles can be used to handle the first type of storage containers.

[0086] In one aspect, a second storage column is formed by dividing a first storage column into two or more storage columns.

[0087] In one aspect, the second storage column is smaller than the first storage column.

[0088] In one aspect, the frame structure includes a dividing element for dividing the first storage column into two or more second storage columns.

[0089] In one aspect, the dividing element is a partition wall.

[0090] In one aspect, the container handling vehicle is the container handling vehicle according to the above, wherein the container handling vehicle is configured to handle the first storage container and the second storage container by adjusting the horizontal position of the second clamping section relative to the first clamping section. BRIEF DESCRIPTION OF THE DRAWINGS

[0091] The following drawings are attached to facilitate understanding of the present invention. The drawings illustrate some embodiments of the present invention, which will now be described only by way of example, in which:

[0092] FIG. 1 is a perspective view of a frame structure of an automatic storage and retrieval system of the prior art.

[0093] FIG. 2 is a perspective view of a container handling vehicle of the prior art, which is internally provided with a cavity for carrying a storage container therein.

[0094] FIG. 3a is a perspective view of a container handling vehicle of the prior art, which has a cantilever for carrying a storage container thereunder.

[0095] FIG. 3b is a perspective view of the container handling vehicle of the prior art shown in FIG. 3a, in which the top cover has been removed to more easily show the lifting device.

[0096] FIG. 3c is a perspective view of the container handling vehicle of the prior art shown in FIG. 3b as viewed from below, in which the details of the lifting device and the clamping device are shown in detail.

[0097] FIG. 4 is a perspective view of a container handling vehicle of the prior art as viewed from below, which is internally provided with a cavity for carrying a storage container therein.

[0098] FIG. 5a schematically shows a top view of a storage container of the prior art.

[0099] Figure 5b Schematically shows a top view of two small storage containers.

[0100] Figure 6 Shows a perspective view of a first embodiment of an automatic storage and retrieval system.

[0101] Figure 7 shows Figure 6 side view of

[0102] Figures 8a to 8c A side view schematically showing the clamping section and the lifting section of a first embodiment of a container handling vehicle.

[0103] Figures 9a to 9d A side view schematically showing a first embodiment of a container handling vehicle, in which the cantilever structure is drawn in a dashed outline and is partially transparent.

[0104] Figures 10a to 10c A side view schematically showing a second embodiment of a container handling vehicle.

[0105] Figure 11 Schematically shows the clamping section and the lifting section implemented in a container handling vehicle of the type shown in FIG. 2 or FIG. 4.

[0106] Figure 12 Schematically shows a fourth embodiment of a container handling vehicle, in which the container handling vehicle holds a small second storage container.

[0107] Figure 13 shows Figure 12 the clamping section and the lifting section of the embodiment shown.

[0108] Figure 14 shows Figure 12 the clamping section and the lifting section of the embodiment shown, in which the belt drum housing and the connecting member are removed to show more details of the lifting device.

[0109] Figure 15 Schematically shows a fourth embodiment of a container handling vehicle holding a storage container of the prior art, in which the vehicle body is removed to better show the internal structure.

[0110] Figure 16 is Figure 15 a top view of the container handling vehicle shown, in which the vehicle body is removed to better show the internal structure. Detailed Description

[0111] Hereinafter, embodiments of the present invention will be discussed in more detail with reference to the accompanying drawings. However, it should be understood that the drawings are not intended to limit the present invention to the subject matter depicted therein.

[0112] The frame structure 100 of the automatic storage and retrieval system 1 is constructed in a manner similar to the frame structure 100 of the prior art described above in connection with FIGS. 1 to 3. That is, the frame structure 100 includes a plurality of upright members 102 and includes a rail system 108 extending in the X and Y directions on top of the upright members 102.

[0113] The frame structure 100 further includes storage compartments in the form of storage columns 105 provided between the members 102, wherein a plurality of storage containers 106 can be stacked in the storage columns 105 in the form of a stack 107.

[0114] The frame structure 100 can have any size. Specifically, it should be understood that the frame structure can be wider and / or longer and / or deeper than the frame structure disclosed in FIG. 1. For example, the frame structure 100 can have a horizontal range of more than 700 x 700 columns and a storage depth of more than 12 containers.

[0115] Now referring to FIG. 5a, a prior art storage container 106 is shown. The storage container 106 shown has two edges 106e1 and 106e2, each of which has a gripper interface GI (shown as a rectangular opening in the top edge of the storage container) and a guide pin interface GPI (shown as a circular groove or opening in the top edge of the storage container).

[0116] As is well known, the function of the gripper interface GI is to allow the grippers 304b, 404b of the container handling vehicle to engage with the storage container to lift and lower the storage container. The function of the guide pin interface GPI is to guide the gripper relative to the upright member 102 when the gripper moves up and down in the storage column, and thus accurately position the gripper relative to the storage container 106.

[0117] Now referring to Figure 5b .. A second type of storage container 6 is shown in this figure. Different from FIG. 5a, Figure 5b two second type storage containers 6 adjacent to each other are shown. As shown, the width W106 of the first storage container 106 is equal to the width W6 of the second storage container 6, and the length L106 of the first storage container 106 is approximately twice the length L6 of the second storage container. Therefore, the second storage container 6 can be referred to as a "small storage container", wherein the occupied area of two such small storage containers 6 is approximately equal to the occupied area of one first storage container 106.

[0118] Similar to the first storage container 106, the second storage container 6 also has two edges 6e1 and 6e2, each of which has a gripper interface GI (shown as a rectangular opening in the top edge of the storage container) and a guide pin interface GPI (shown as a circular groove or opening in the top edge of the storage container).

[0119] Preferably, the first edge 6e1 of the second storage container 6 is the same as the first edge 106e1 of the first storage container 106, and the second edge 6e2 of the second storage container 6 is the same as the second edge 106e2 of the first storage container 106.

[0120] Reference will now be made to Figure 6 and Figure 7 for a more detailed discussion of an embodiment of the automated storage and retrieval system according to the present invention. The storage volume of the prior art is hereinafter referred to as the first storage volume, which includes a first storage row 105 disposed between upright members 102, wherein the prior art first storage containers 106 can be stacked in the first storage row 105 in the form of a first stack 107.

[0121] The frame structure 100 further includes a second storage volume, which includes second storage rows 105A, 105B disposed between upright members 102, wherein the second storage containers 6 can be stacked in the second storage rows 105A, 105B in the form of second stacks 107A, 107B.

[0122] Figure 6 and Figure 7 As shown in and, the second storage rows 105A, 105B can be formed by partitioning a first storage row 105 into two or more storage rows by means of a partitioning element 2 in the form of a vertical partition wall. The partitioning element 2 can be located between two upright members 102 and connected between the floor FL and the track system 108.

[0123] The system 1 further includes a container handling vehicle 10 arranged to run on the track system 108. The container handling device 10 will now be described in detail. It should be noted that in the following embodiments, the container handling vehicle 10 is a cantilever vehicle, that is, the vehicle 10 includes a vehicle body 11 and a cantilever structure 11a extending horizontally from the vehicle body 11.

[0124] Container Handling Device 10 - First Embodiment

[0125] Reference is now made to Figures 8a to 8c and Figures 9a to 9d . Here, the vehicle body 11 of the container handling vehicle 10 is shown by a solid line on the left side of the figure, while the components located within the cantilever structure 11a are shown as extending from the right side of the vehicle body 11.

[0126] The vehicle 10 includes a first clamping section 20a and a second clamping section 20b. The first clamping section 20a includes a frame 21a, at least two guide pins 22a fixed to the frame 21a, and a gripper 23a fixed to the frame 21a. The second clamping section 20b includes a frame 21b, at least two guide pins 22b fixed to the frame 21b, and a gripper 23b fixed to the frame 21b.

[0127] In addition, the vehicle 10 includes a first lifting section 30a for lifting the first clamping section 20a relative to the vehicle body 11 and a second lifting section 30b for lifting the second clamping section 20b relative to the vehicle body 11.

[0128] The vehicle 10 includes a rotatable shaft 31. The first lifting section 30a includes a belt drum 31a connected to the shaft 31 and a lifting belt 32a connected between the belt drum 31a and the first clamping section 20a. Similarly, the second lifting section 30b includes a belt drum 31b connected to the shaft 31 or another shaft and a lifting belt 32b connected between the belt drum 31b and the second clamping section 20b.

[0129] By rotating the rotatable shaft 31 (and possibly another shaft as well), the lifting belts 32a, 32b are wound onto or unwound from the belt drums 31a, 31b, thereby raising or lowering the first clamping section 20a and the second clamping section 20b accordingly.

[0130] The vehicle 10 in this embodiment includes three actuators. The first actuator 41 is arranged to adjust the horizontal position of the first clamping section 20a by adjusting the horizontal position of the belt drum 31a of the first lifting section 30a on the shaft 31. In this way, the first actuator 41 adjusts the horizontal position of the first clamping section 20a relative to the vehicle body 11.

[0131] The second actuator 42 is arranged to adjust the horizontal position of the second clamping section 20b by adjusting the horizontal position of the belt drum 31b of the second lifting section 30b on the shaft 31. In this way, the second actuator 42 adjusts the horizontal position of the second clamping section 20b relative to the vehicle body 11.

[0132] The shaft in this embodiment is a splined shaft, which allows the belt drum to move axially relative to the splined shaft while also allowing the belt drum to rotate through the same splined shaft.

[0133] The third actuator 43 is arranged to adjust the horizontal distance between the frame 21a of the first clamping section 20a and the frame 21b of the second clamping section 20b. Therefore, by adjusting the distance between the frame 21a of the first clamping section 20a and the frame 21b of the second clamping section 20b, the container handling vehicle 10 can be set in one of the following states:

[0134] - A first state, in which the position of the first clamping section 20a is separated from the position of the second clamping section 20b by a first distance D1 for engaging the first storage container 106 (see Figure 8a ).

[0135] - A second state, in which the position of the first clamping section 20a is separated from the position of the second clamping section 20b by a second distance D2 for engaging the second storage container 6, where the second distance D2 is less than the first distance D1 (see Figure 8c and Figure 9a ).

[0136] Furthermore, the first actuator 41 and the second actuator 42 may be arranged to move the second storage container 6 relative to the vehicle body 11 by a third distance D3 ( Figure 9b ) in the second state, and the third distance is equal to or greater than the second distance D2. In this way, the second storage container 6 can be lifted from one small storage row 105A and lowered into an adjacent small storage row 105B without moving the container handling vehicle 10. This is described in Figure 8a and 8b and Figures 9a to 9c .

[0137] Container Handling Device 10 - Second Embodiment

[0138] Now refer to Figures 10a to 10c . In this embodiment, the first clamping section 20a and the second clamping section 20b are fixed to each other, that is, there is no third actuator 43. The vehicle 10 only includes the first actuator 41, which is arranged to adjust the horizontal positions of the first clamping section 20a and the second clamping section 20b relative to the vehicle body. In this embodiment, the container handling vehicle 10 is arranged to only handle the second storage container 6. Therefore, different types of container handling vehicles are required to handle the first type of storage container 106.

[0139] In Figure 10a the first position shown, the second storage container 6 can be lifted from the small storage row 105A and the second storage container 6 can be lowered into the small storage row 105A. By horizontally moving the first clamping section 20a and the second clamping section 20b (as shown in Figure 10b ), the position shown in Figure 10c can be reached. In Figure 10c the second position shown, the second storage container 6 can be lifted from the small storage row 105B and the second storage container 6 can be lowered into the small storage row 105A.

[0140] Container Handling Device 10 - Third Embodiment

[0141] Now refer to Figure 11 which shows that the above-described first and second embodiments can also be implemented in a container handling vehicle of the type shown in FIG. 2 or FIG. 4.

[0142] Container Handling Device 10 - Fourth Embodiment

[0143] Now refer to Figures 12 to 15 .

[0144] Figure 12 The shown container handling vehicle belongs to the type shown in FIG. 2 or FIG. 4, that is, the clamping device is located in the cavity of the vehicle body, but the features described below also apply to other types of container handling vehicles, such as the cantilever type vehicles shown in FIGS. 3a to 3c. In Figures 12 to 14 , the small second storage container 6 is clamped by the grippers 23a, 23b, while in Figure 15 and Figure 16 , the prior art storage container 106 larger than the second storage container 6 is clamped by the grippers 23a, 23b.

[0145] The vehicle 10 includes a first clamping section 20a and a second clamping section 20b, which can be the same as the first clamping section and the second clamping section described with respect to the first embodiment of the container handling vehicle 10 (see Figures 8a to 8c and Figures 9a to 9d ).

[0146] In addition, the vehicle 10 includes a first lifting section 30a for lifting the first clamping section 20a relative to the vehicle body 11 and a second lifting section 30b for lifting the second clamping section 20b relative to the vehicle body 11.

[0147] The first lifting section 30a includes two belt rollers 31a (see Figure 13 and Figure 14 ), each of the two belt rollers is arranged in a belt roller housing 34a at opposite ends of the first lifting section 30a, and the two belt roller housings 34a are rigidly connected to each other by a first connecting member 33a. The second lifting section 30b includes two belt rollers 31b, each of the two belt rollers is arranged in a belt roller housing 34b at opposite ends of the second lifting section 30b, and the two belt roller housings 34b are rigidly connected to each other by a second connecting member 33b. The belt roller 31a and the belt roller 31b can be the same or at least have the same dimensions.

[0148] The vehicle 10 includes a first rotatable shaft 31, on which a belt drum 31a of the first lifting section and a belt drum 31b of the second lifting section are arranged. The vehicle 10 further includes a second rotatable shaft 31, on which another belt drum 31a of the first lifting section and another belt drum 31b of the second lifting section are arranged. Each of the belt drums 31a, 31b includes lifting belts 32a, 32b (see Figure 14 ) for connecting the belt drums 31a, 31b to the first clamping section 20a or the second clamping section 20b. The rotatable shaft 31 is supported by the vehicle body 11.

[0149] By rotating the rotatable shaft 31, the lifting belts 32a, 32b can be wound onto or unwound from the belt drums 31a, 31b, thereby raising or lowering the first clamping section 20a and the second clamping section 20b accordingly.

[0150] The shaft in this embodiment is a spline shaft, which allows the belt drums 31a, 31b to move axially relative to the spline shaft 31, and at the same time allows the belt drums 31a, 31b to rotate inside the belt drum housings 34a, 34b through the same spline shaft 31.

[0151] The rotatable shaft 31 is driven by a motor 45 (see Figure 13 ). The same motor can be used to drive the two rotatable shafts 31. This arrangement can make the two rotatable shafts 31 rotate at the same speed, so as to achieve synchronous lifting, for example, by installing appropriate gear devices on the motor 45.

[0152] The vehicle 10 in this embodiment includes two actuators. The first actuator 41 is arranged to adjust the horizontal position of the first clamping section 20a by adjusting the horizontal position of the belt drum 31a of the first lifting section 30a on the shaft 31. In this way, the first actuator 41 adjusts the horizontal position of the first clamping section 20a relative to the vehicle body 11.

[0153] The second actuator 42 is arranged to adjust the horizontal position of the second clamping section 20b by adjusting the horizontal position of the belt drum 31b of the second lifting section 30b on the shaft 31. In this way, the second actuator 42 adjusts the horizontal position of the second clamping section 20b relative to the vehicle body 11.

[0154] In this embodiment, the first actuator 41 and the second actuator 42 are in the form of a first threaded rod and a second threaded rod, each of which is driven by a motor 44 (which can be an electric motor). The first threaded rod 41 passes through a hole in the second connecting member 33b and further through a threaded hole in the first connecting member 33a, where the thread on the rod 41 engages with the thread of the hole in the first connecting member 33a. Thus, by rotating the first threaded rod 41, the first connecting member 33a moves in the longitudinal direction of the rod 41, causing the first clamping section 20a to move relative to the vehicle body 10. Similarly, the second threaded rod 42 passes through a threaded hole in the second connecting member 33b, where the thread on the rod 42 engages with the thread of the hole, and the second threaded rod 42 further passes through a hole in the first connecting member 33a. Thus, by rotating the second threaded rod 42, the second connecting member 33b moves in the longitudinal direction of the rod 42, causing the second clamping section 20b to move relative to the vehicle body 10. Since the second threaded rod 42 does not engage with any thread in the hole of the first connecting member 33a, the first connecting member 33a does not move when the threaded rod 42 rotates, so that when the threaded rod 42 rotates, the second clamping section 20b also moves relative to the first clamping section 20a.

[0155] The vehicle 10 may include a spacing device for adjusting and maintaining the horizontal distance between the frame 21a of the first clamping section 20a and the frame 21b of the second clamping section 20b. The spacing device may be a third actuator 43, as described with respect to the first embodiment of the vehicle 10. Figure 15 and Figure 16 An alternative device is shown in

[0156] Figure 15 Schematically shown according to Figure 12 is a container handling vehicle, in which the holders 23a, 23b hold a larger prior art storage container 106. The vehicle body is removed to better show the lifting sections 30a, 30b and the clamping sections 20a, 20b. Figure 15 An adjustable spacer 47 is also shown, which connects the frame 21a of the first clamping section 20a to the frame 21b of the second clamping section 20b. The adjustable spacer 47 enables the adjustment of the horizontal position of the frame 21b of the second clamping section 20b relative to the frame 21a of the first clamping section 21a. However, this is only allowed when the frames 21a, 21b are in the highest position, i.e., when the lifting belts are fully wound around the belt drums 31a, 31b. When the frames 21a, 21b descend from this position, the adjustable spacer 47 is locked to maintain the distance between the frames 21a, 21b.

[0157] The adjustable spacer 47 is also shown in Figure 16As shown, the figure is Figure 15 a top view of an embodiment of Figure 15 . As can be seen from this figure, the spacer 47 includes two intersecting arms. Each end of these two arms includes a sliding member 48, which is arranged to slide laterally inside the guide 49 on the frames 21a, 21b, so that the arms of the spacer 47 can move towards or away from each other, thereby adjusting the distance between the frames 21a, 21b. The adjustable spacer 47 can be set in a locked state and an unlocked state. In the locked state, the sliding member 48 is prevented from moving within the guide 49. In the unlocked state, the sliding member 48 is released and can move. For this purpose, the frames 21a, 21b can include, for example, a spring-loaded member, which is arranged to interfere with the vehicle body 11 when the frames 21a, 21b are in the highest position, so that the spring-loaded member is forced out of its original position, thereby releasing the sliding member 48. When adjusting the distance between the first clamping section and the second clamping sections 20a, 20b, the first actuator 41 and / or the second actuator 42 can be used. Then, the sliding member 48 will move laterally in the slider to correspondingly adjust the distance between the frames 21a, 21b. Once the clamping sections 20a, 20b move away from the highest position, the sliding member 48 is prevented from moving, thereby maintaining the horizontal distance between the frames 21a, 21b of the first clamping section 20a and the second clamping section 20b. Therefore, a third actuator is not required.

[0158] Alternative Embodiment

[0159] It should be noted that in the above embodiment, the partition wall 2 can play the same role as the upright member 102, that is, for guiding the clamping device of the container handling vehicle during the up and down movement in the second storage rows 105A, 105B, and for guiding the second storage container during the up and down movement in the second storage rows 105A, 105B.

[0160] It should be noted that in the above embodiment, the container handling vehicle includes a control system 50 for controlling the first actuator 41, the second actuator 42, and / or the third actuator 43, so that the distance between the position of the first clamping section 20a and the position of the second clamping section 20b is proportional to the distance between the belt drum 31a of the first lifting section 30a and the belt drum 31b of the second lifting section 30a. The control system can control the motors 44 of the first actuator, the second actuator, and the third actuator.

[0161] The control system 50 can control the lifting of the first clamping section and the second clamping section, for example, by controlling the motor 45 that drives the rotatable shaft 31. Therefore, the control system 50 can keep the first clamping section 20a and the second clamping section 20b horizontally aligned with each other.

[0162] In an alternative embodiment, the belt rollers 31a and 31b are arranged on different axes.

[0163] In the foregoing description, various aspects of the container handling vehicle and the automated storage and retrieval system according to the present invention have been described with reference to illustrative embodiments. For purposes of illustration, specific numbers, systems, and configurations have been set forth in order to provide a thorough understanding of the system and its operating principles. However, the description is not intended to be construed in a limiting sense. Various modifications and variations of the illustrative embodiments that are obvious to those skilled in the art to which the disclosed subject matter pertains, as well as other embodiments of the system, are considered to be within the scope of the present invention.

[0164] List of Reference Numerals

[0165] 1 Retrieval system

[0166] 2 Partition element

[0167] 6 Small second storage container

[0168] 6e1 First edge

[0169] 6e2 Second edge

[0170] 10 Container handling vehicle

[0171] 11 Vehicle body

[0172] 11a Cantilever structure

[0173] 20a First clamping section

[0174] 20b Second clamping section

[0175] 21a Frame

[0176] 21b Frame

[0177] 22a At least two guide pins

[0178] 22b At least two guide pins

[0179] 23a Clamp

[0180] 23b Clamp

[0181] 30a First lifting section

[0182] 30b Second lifting section

[0183] 31 Rotatable shaft

[0184] 31a Belt roller

[0185] 31b Belt roller

[0186] 32a lifting belt

[0187] 32b lifting belt

[0188] 33a connecting member

[0189] 33b connecting member

[0190] 34a belt drum housing

[0191] 34b belt drum housing

[0192] 41 first actuator

[0193] 42 second actuator

[0194] 43 third actuator

[0195] 44 motor

[0196] 45 motor

[0197] 47 adjustable spacer

[0198] 48 sliding member

[0199] 49 guide

[0200] 50 control system

[0201] 100 frame structure

[0202] 102 vertical member of the frame structure

[0203] 104 storage grid

[0204] 105 storage column

[0205] 105A, 105B small second storage column

[0206] 106e1 first edge

[0207] 106e2 second edge

[0208] 107A, 107B second stack

[0209] 106 storage container

[0210] 106’ storage container at a specific position

[0211] 107 stack

[0212] 108 track system

[0213] 110 parallel tracks in the first direction (X)

[0214] 112 access opening

[0215] 119 First port column

[0216] 120 Second port column

[0217] 201 Prior art container handling vehicle

[0218] 201a Body of container handling vehicle 201

[0219] 201b Driving device / wheel device / first set of wheels in the first direction (X)

[0220] 201c Driving device / wheel device / second set of wheels in the second direction (Y)

[0221] 301 Prior art cantilever container handling vehicle

[0222] 301a Body of container handling vehicle 301

[0223] 301b Driving device / first set of wheels in the first direction (X)

[0224] 301c Driving device / second set of wheels in the second direction (Y)

[0225] 304 Gripping device

[0226] 401 Prior art container handling vehicle

[0227] 401a Body of container handling vehicle 401

[0228] 401b Driving device / first set of wheels in the first direction (X)

[0229] 401c Driving device / second set of wheels in the second direction (Y)

[0230] 404 Gripping device

[0231] 404a Lifting belt

[0232] 404b Gripper

[0233] 404c Guide pin

[0234] 404d Lifting frame

[0235] 500 Control system

[0236] X First direction

[0237] Y Second direction

[0238] Z Third direction

[0239] D1 First distance

[0240] D2 Second distance

[0241] D3 Third Distance

[0242] FL Floor

[0243] GI Gripper Interface

[0244] GPI Guide Pin Interface

[0245] L106 Length

[0246] L6 Length

Claims

1. A container handling vehicle (10) for an automated storage and retrieval system (1), wherein, The container handling vehicle (10) includes: - a vehicle body (11); - a first clamping section (20a) for engaging a first edge (6e1; 106e1) of a storage container (6; 106); - a first lifting section (30a) for lifting the first clamping section (20a) relative to the vehicle body (11); - a second clamping section (20b) for engaging a second edge (6e2; 106e2) of the storage container (6; 106); - a second lifting section (30b) for lifting the second clamping section (20b) relative to the vehicle body (11); wherein the first lifting section (30a) and the second lifting section (30b) are arranged to keep the first clamping section (20a) and the second clamping section (20b) horizontally aligned with each other; and - a first actuator (41) for adjusting the horizontal position of the first clamping section (20a) and / or the second clamping section (20b) relative to the vehicle body (11).

2. The container handling vehicle (10) according to claim 1, wherein, The first clamping section (20a) and the second clamping section (20b) are fixed to each other, and wherein the first actuator (41) is arranged to adjust the horizontal positions of the first clamping section (20a) and the second clamping section (20b).

3. The container handling vehicle (10) according to claim 1, wherein, The container handling vehicle (10) includes: - a second actuator (42) for adjusting the horizontal position of the second clamping section (20b) relative to the first clamping section (20a).

4. The container handling vehicle (10) according to claim 3, wherein, The container handling vehicle (10) can be set to be in one of the following states: - a first state, in which the position of the first clamping section (20a) is at a first distance (D1) from the position of the second clamping section (20b) for engaging a first storage container (106); - a second state, in which the position of the first clamping section (20a) is at a second distance (D2) from the position of the second clamping section (20b) for engaging a second storage container (6), wherein the second distance (D2) is less than the first distance (D1).

5. The container handling vehicle (10) according to claim 4, wherein, The second distance (D2) is 40%-50% of the first distance (D1).

6. The container handling vehicle (10) according to claim 4 or 5, wherein, In the second state, the first actuator (41) and the second actuator (42) are arranged to horizontally move the second storage container (6) relative to the vehicle body (11).

7. The container handling vehicle (10) according to claim 6, wherein, In the second state, the first actuator (41) and the second actuator (42) are arranged to move the second storage container (6) relative to the vehicle body (11) by a third distance (D3), the third distance being equal to or greater than the second distance (D2).

8. The container handling vehicle (10) according to any one of claims 4 to 7, wherein, The first clamping section (20a) is arranged to engage with the first edge (106e1) of the first storage container (106) and the first edge (6e1) of the second storage container (6), and wherein the second clamping section (20b) is arranged to engage with the second edge (106e2) of the first storage container (106) and the second edge (6e2) of the second storage container (6).

9. The container handling vehicle (10) according to any one of the above claims, wherein, The width (W106) of the first storage container (106) is equal to the width (W6) of the second storage container (6), and the length (L106) of the first storage container is equal to or less than 50% of the length (L6) of the second storage container (6).

10. The container handling vehicle (10) according to any one of the preceding claims, wherein: - The container handling vehicle (10) includes a rotatable shaft (31); - The first lifting section (30a) includes a belt drum (31a) connected to the shaft (31) and a lifting belt (32a) connected between the belt drum (31a) and the first clamping section (20a); - The second lifting section (30b) includes a belt drum (31b) connected to the shaft (31) or another shaft and a lifting belt (32b) connected between the belt drum (31b) and the second clamping section (20b); wherein the first actuator (41) is arranged to adjust the horizontal position of the first clamping section (20a) by adjusting the horizontal position of the belt drum (31a) of the first lifting section (30a) on the shaft (31).

11. The container handling vehicle (10) according to claim 10, wherein, The second actuator (42) is arranged to adjust the horizontal position of the second clamping section (20b) relative to the first clamping section (20a) by adjusting the horizontal position of the belt drum (31b) of the second lifting section (30b) on the shaft (31) or on the other shaft relative to the belt drum (31a) of the first lifting section (30a).

12. The container handling vehicle (10) according to claim 11, wherein: - The first clamping section (20a) includes a frame (21a), at least two guide pins (22a) fixed to the frame (21a), and a gripper (23a) fixed to the frame (21a); - The second clamping section (20b) includes a frame (21b), at least two guide pins (22b) fixed to the frame (21b), and a gripper (23b) fixed to the frame (21b); - The container handling vehicle (10) includes a third actuator (43) for adjusting the horizontal distance between the frame (21a) of the first clamping section (20a) and the frame (21b) of the second clamping section (20b).

13. The container handling vehicle (10) according to claim 12, wherein, The container handling vehicle (10) includes a control system (50) for controlling the first actuator (41), the second actuator (42) and / or the third actuator (43).

14. The container handling vehicle (10) according to claim 13, wherein, The control system (50) is arranged to control the first actuator (41), the second actuator (42) and the third actuator (43) to maintain the distance between the position of the first clamping section (20a) and the position of the second clamping section (20b) proportional to the distance between the belt drum (31a) of the first lifting section (30a) and the belt drum (31b) of the second lifting section (30a).

15. An automatic storage and retrieval system (1), comprising a frame structure (100), wherein, The frame structure (100) comprises: - upright members (102); - a first storage volume, including a first storage row (105) arranged between the upright members (102), wherein a plurality of first storage containers (106) can be stacked in the form of a first stack (107) within the first storage row (105); - a second storage volume, including second storage rows (105A, 105B) arranged between the upright members (102), wherein a plurality of second storage containers (6) can be stacked in the form of second stacks (107A, 107B) within the second storage rows (105A, 105B); and - a track system (108) arranged on top of the upright members (102), wherein the automated storage and retrieval system (1) includes a container handling vehicle (10) arranged to travel on the track system (108); characterized in that the container handling vehicle (10) is the container handling vehicle according to any one of claims 1 to 14, wherein the container handling vehicle (10) is arranged to handle the second storage container (6).

16. The automatic storage and retrieval system (1) according to claim 15, wherein, The second storage rows (105A, 105B) are formed by dividing one of the first storage rows (105) into two or more storage rows.

17. The automatic storage and retrieval system (1) according to claim 16, wherein, The frame structure (100) includes a separating element (2) for dividing the first storage row (105) into two or more second storage rows (105A, 105B).

18. The automatic storage and retrieval system (1) according to any one of claims 15 to 17, wherein, The container handling vehicle (10) is the container handling vehicle according to any one of claims 3 to 9 or any one of claims 11 to 14, wherein the container handling vehicle (10) is arranged to handle the first storage container (106) and the second storage container (6) by adjusting the horizontal position of the second clamping section (20b) relative to the first clamping section (20a).

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